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In this paper, a finite-time trajectory tracking control approach is proposed for an unmanned surface vehicle (USV) with unknown dead-zones and unknown disturbances. External disturbances can be observed exactly by a robust homogeneous differentiator with finite-time convergence. Based on the information of the bounds of the dead-zone slopes as well as treating the time-varying inputs coefficients...
In this paper, we consider finite-time connectivity preserving coordination problems for second-order multi-agent systems with disturbances and limited sensing range. Based on integral sliding mode control and artificial potential field, a distributed controller is developed to achieve robust finite-time consensus and meanwhile maintain the connectivity of the communication network. An integral sliding...
In this work, we investigated the sliding mode control (SMC) for uncertain systems with both state and input varying delays. In most existing SMC, a common input and delayed input matrix are considered to apply the conventional method, which is very restrictive assumption. Therefore, we proposed a new sliding surface which takes account of the system state and the control input in order to remove...
In this paper, a discrete terminal sliding mode controller (DTSMC) is proposed based on a new nonlinear sliding function. This strategy of control is developed using only the input-output (I/O) model. To improve the effectiveness of DTSMC, we applied it to a DC-DC buck converter. The results obtained by simulations are given at the end to demonstrate the effectiveness of our proposed scheme in terms...
The design of robust controller for an uncertain discrete-time nonlinear systems is considered in this paper. Firstly, a discrete sliding mode control, based on using the inverse of nonlinear function, is proposed. While in the case of relatively high time varying parameters, the implementation of this control law requires the knowledge of parameters's values at each sample time which is not always...
This paper addresses the problem of robust trajectory tracking controller design for an overhead crane system. Overhead cranes are complex under-actuated mechanical systems with highly nonlinear-coupled dynamics. After describing the dynamical model of five degrees of freedom overhead crane, a control algorithm based on the so-called Partial Feedback Linearization and Sliding Mode Control technique...
ECPT is a novel technology which utilizes capacitive coupling to realize wireless energy transfer. But, it is well known that ECPT system is very sensitive to parameters variation. In order to improve system robustness, a novel quasi sliding mode control method is proposed. A GSSA model is building up and a quasi sliding mode variable structure control strategy is proposed accordingly. Finally, the...
In this study, a dynamic integral sliding mode control is put forward to control the speed of an electromechanical system. The dynamic integral sliding mode control is proposed to make sliding mode control aspects better and remove undesirable chattering effects. Lyapunov theorem is applied to guarantee the system's stability. The system under parameter uncertainty is considered close to the real...
Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and sensitivity to data sampling imprecisions limit the digital implementation of conventional first order continuous-time SMC. Higher order discrete SMC is an effective solution...
Sliding mode control approaches are presented in this paper for the wheel slip control of road vehicles. The major design requirement for the controllers is to make the wheel slip ratio follow a desired value, while guaranteeing that the sliding mode control is stabilizing. Its robustness in front of matched and unmatched uncertainties and data transmission delays is assessed in simulation. In the...
This paper considers a nonsingular sliding mode controller for a second order system without a priori knowledge of the control direction. A novel nonsingular terminal sliding hypersurface is presented to adapt to the challenges of unknown control direction and avoid singularity issues at the origin. In contrast to the Nussbaum gain, where the equilibrium point is reached asymptotically, or the classical...
This paper mainly focuses on the optimal tracking and robust intelligent controller for a wind turbine systems. In order to guarantee the wind power capture optimization without any chattering problems, this study propose to combine the sliding mode control (SMC), proportional integral (PI) control and particle swarm optimization (PSO) algorithm. In order to provide an optimal PI and SMC gains, particle...
In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the considered system, since there may exist explicit unknown system parameters and also perturbations, a lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. The design contains two different phases of...
For years, many manufacturing and production lines use robots to accelerate the manufacture rate and present high quality products. The main objective of these robots is tracking a desired path with the least error, but generally it's impossible to overcome errors entirely due to nonlinearity of dynamic systems and time dependence of the system dynamical parameters. To overcome this obstacle, a new...
This paper presents the performance evaluation of a Permanent Magnet Synchronous Machine (PMSM) under various dynamic changes with sensorless speed detection. Speed and rotor position of the motor is calculated indirectly from the machine parameters. A new control algorithm which is a Modified Sliding Mode Control (MSMC) has been proposed and machine drive performance have been evaluated using (MSMC)...
Advanced robotic technology has become a significant component in many medical specialties, including in rehabilitation tasks such as physiotherapy. Rehabilitation programs are a practical approach created to assist patients, such as stroke victims, in retrieving their missing functional capacity, obtaining new skills, and enhancing their quality of life. Nevertheless, rehabilitation treatments need...
A robust flight control for a quadrotor unmanned aerial vehicle is addressed in this paper. An adaptive super-twisting control, a second order sliding mode control, is used to control position and attitude of a quadcopter. The controller reduces chattering, is robust to uncertainties and perturbations, increases accuracy and does not require time-derivative of sliding variables. A time-varying sliding...
Designing a robust controller for nonlinear discrete-time systems, described by block-oriented models, becomes an active area for research in automatic theory. In this paper, two techniques are proposed: the first one is based on developing a discrete sliding mode control for a generalized Hammerstein mathematical model. The second one consists in replacing the constant switching gain of the discontinuous...
This paper proposes a novel type of fast convergence robust controller for a non-laminated magnetic bearing system whose dynamics is governed by a non-commensurate fractional order model. The key feature of this approach is the use of Fractional Order PID sliding manifolds and the appropriate sliding mode control law developed to assure the robustness. The stability of the closed loop system is ensured...
Chattering alleviation is an area of great interest as far as the practicality of sliding mode controllers (SMC) are concerned. Reaching law based SMC design is a well-known chattering alleviation method available in the literature. Among the different conventional reaching law strategies that are available in the literature, power rate reaching law (PRRL) is found to be effective in terms of chattering...
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